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Author |
David Aldavert; Ricardo Toledo; Arnau Ramisa; Ramon Lopez de Mantaras |
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Title |
Visual Registration Method For A Low Cost Robot: Computer Vision Systems |
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Conference Article |
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Year |
2009 |
Publication |
7th International Conference on Computer Vision Systems |
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5815 |
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204–214 |
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Abstract |
An autonomous mobile robot must face the correspondence or data association problem in order to carry out tasks like place recognition or unknown environment mapping. In order to put into correspondence two maps, most methods estimate the transformation relating the maps from matches established between low level feature extracted from sensor data. However, finding explicit matches between features is a challenging and computationally expensive task. In this paper, we propose a new method to align obstacle maps without searching explicit matches between features. The maps are obtained from a stereo pair. Then, we use a vocabulary tree approach to identify putative corresponding maps followed by the Newton minimization algorithm to find the transformation that relates both maps. The proposed method is evaluated in a typical office environment showing good performance. |
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Belgica |
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Springer Berlin Heidelberg |
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ISSN |
0302-9743 |
ISBN |
978-3-642-04666-7 |
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ICVS |
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Admin @ si @ ATR2009b |
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1247 |
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Author |
Mohammad Rouhani; Angel Sappa |
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Title |
A Novel Approach to Geometric Fitting of Implicit Quadrics |
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Conference Article |
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Year |
2009 |
Publication |
8th International Conference on Advanced Concepts for Intelligent Vision Systems |
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Volume |
5807 |
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121–132 |
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Abstract |
This paper presents a novel approach for estimating the geometric distance from a given point to the corresponding implicit quadric curve/surface. The proposed estimation is based on the height of a tetrahedron, which is used as a coarse but reliable estimation of the real distance. The estimated distance is then used for finding the best set of quadric parameters, by means of the Levenberg-Marquardt algorithm, which is a common framework in other geometric fitting approaches. Comparisons of the proposed approach with previous ones are provided to show both improvements in CPU time as well as in the accuracy of the obtained results. |
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Bordeaux, France |
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Springer Berlin Heidelberg |
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0302-9743 |
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978-3-642-04696-4 |
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ADAS @ adas @ RoS2009 |
Serial |
1194 |
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Author |
Antonio Lopez; J. Hilgenstock; A. Busse; Ramon Baldrich; Felipe Lumbreras; Joan Serrat |
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Title |
Nightime Vehicle Detecion for Intelligent Headlight Control |
Type |
Conference Article |
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Year |
2008 |
Publication |
Advanced Concepts for Intelligent Vision Systems, 10th International Conference, Proceedings, |
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Volume |
5259 |
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113–124 |
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Keywords |
Intelligent Headlights; vehicle detection |
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Juan-les-Pins, France |
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ADAS;CIC |
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ADAS @ adas @ LHB2008a |
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1098 |
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Author |
Carme Julia; Angel Sappa; Felipe Lumbreras; Antonio Lopez |
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Title |
Recovery of Surface Normals and Reflectance from Different Lighting Conditions |
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Conference Article |
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Year |
2008 |
Publication |
5th International Conference on Image Analysis and Recognition |
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Volume |
5112 |
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Pages |
315–325 |
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ADAS |
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ADAS @ adas @ JSL2008c |
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1014 |
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Author |
Angel Sappa; Fadi Dornaika; David Geronimo; Antonio Lopez |
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Title |
Efficient On-Board Stereo Vision Pose Estimation |
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Conference Article |
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Year |
2007 |
Publication |
Computer Aided Systems Theory, Selected paper from |
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Volume |
4739 |
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Pages |
1183–1190 |
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This paper presents an efficient technique for real time estimation of on-board stereo vision system pose. The whole process is performed in the Euclidean space and consists of two stages. Initially, a compact representation of the original 3D data points is computed. Then, a RANSAC based least squares approach is used for fitting a plane to the 3D road points. Fast RANSAC fitting is obtained by selecting points according to a probability distribution function that takes into account the density of points at a given depth. Finally, stereo camera position
and orientation—pose—is computed relative to the road plane. The proposed technique is intended to be used on driver assistance systems for applications such as obstacle or pedestrian detection. A real time performance is reached. Experimental results on several environments and comparisons with a previous work are presented. |
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Las Palmas de Gran Canaria (Spain) |
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EUROCAST |
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ADAS |
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Call Number |
ADAS @ adas @ SDG2007b |
Serial |
916 |
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Author |
Angel Sappa; Rosa Herrero; Fadi Dornaika; David Geronimo; Antonio Lopez |
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Title |
Road Approximation in Euclidean and v-Disparity Space: A Comparative Study |
Type |
Conference Article |
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Year |
2007 |
Publication |
Computer Aided Systems Theory, |
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Volume |
4739 |
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Pages |
1105–1112 |
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Abstract |
This paper presents a comparative study between two road approximation techniques—planar surfaces—from stereo vision data. The first approach is carried out in the v-disparity space and is based on a voting scheme, the Hough transform. The second one consists in computing the best fitting plane for the whole 3D road data points, directly in the Euclidean space, by using least squares fitting. The comparative study is initially performed over a set of different synthetic surfaces
(e.g., plane, quadratic surface, cubic surface) digitized by a virtual stereo head; then real data obtained with a commercial stereo head are used. The comparative study is intended to be used as a criterion for fining the best technique according to the road geometry. Additionally, it highlights common problems driven from a wrong assumption about the scene’s prior knowledge. |
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Las Palmas de Gran Canaria (Spain) |
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ADAS @ adas @ SHD2007b |
Serial |
917 |
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Author |
Fadi Dornaika; Angel Sappa |
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Title |
Real-time Vehicle Ego-Motion using Stereo Pairs and Particle Filters |
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Conference Article |
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Year |
2007 |
Publication |
Int. Conf. on Image Analysis and Recognition, |
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Volume |
4633 |
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Pages |
469–480 |
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Address |
Montreal (Canada) |
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ADAS @ adas @ DoS2007a |
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813 |
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Author |
Carme Julia; Angel Sappa; Felipe Lumbreras; Joan Serrat; Antonio Lopez |
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Title |
Motion Segmentation from Feature Trajectories with Missing Data |
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Conference Article |
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2007 |
Publication |
3rd. Iberian Conference on Pattern Recognition and Image Analysis |
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IbPRIA 2007 |
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LNCS 4477 |
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Pages |
483–490 |
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Girona (Spain) |
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J. Marti et al. (Eds.) |
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ADAS @ adas @ JSL2007a |
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814 |
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Author |
Joan Serrat; Ferran Diego; Felipe Lumbreras; Jose Manuel Alvarez |
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Title |
Synchronization of Video Sequences from Free-moving Cameras |
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Conference Article |
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2007 |
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3rd Iberian Conference on Pattern Recognition and Image Analysis |
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4477 |
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620–627 |
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Girona (Spain) |
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J. Marti et al. |
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IbPRIA |
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ADAS @ adas @ SDL2007 |
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880 |
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Author |
Antonio Lopez; Joan Serrat; Cristina Cañero; Felipe Lumbreras |
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Title |
Robust Lane Lines Detection and Quantitative Assessment |
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Conference Article |
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Year |
2007 |
Publication |
3rd Iberian Conference on Pattern Recognition and Image Analysis |
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4477 |
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274–281 |
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Keywords |
lane markings |
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Girona (Spain) |
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J. Marti et al |
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IbPRIA |
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ADAS @ adas @ LSC2007 |
Serial |
881 |
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